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   "source": [
    "# Geared Motor module\n",
    "---"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Aim\n",
    "\n",
    "* This notebook illustrates how to use available APIs for the Geared Motor and DC Motor Driver on PYNQ-Z2 PMOD interface.\n",
    "\n",
    "## References\n",
    "* [TT Geared Motor with Back Shaft](https://www.dfrobot.com/product-100.html) \n",
    "* [2x1.2A DC Motor Driver](https://www.dfrobot.com/product-1705.html)\n",
    "* [Turtle: 2WD Mobile Robot Platform](https://www.dfrobot.com/product-65.html) \n",
    "* [Grove Base Shield V2.0](https://www.seeedstudio.com/Base-Shield-V2.html)   \n",
    "\n",
    "## Last revised\n",
    "* 21 June 2021\n",
    "    + Initial version\n",
    "---"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Load _base_ Overlay"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
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    {
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       "try {\n",
       "require(['notebook/js/codecell'], function(codecell) {\n",
       "  codecell.CodeCell.options_default.highlight_modes[\n",
       "      'magic_text/x-csrc'] = {'reg':[/^%%microblaze/]};\n",
       "  Jupyter.notebook.events.one('kernel_ready.Kernel', function(){\n",
       "      Jupyter.notebook.get_cells().map(function(cell){\n",
       "          if (cell.cell_type == 'code'){ cell.auto_highlight(); } }) ;\n",
       "  });\n",
       "});\n",
       "} catch (e) {};\n"
      ]
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       "\n",
       "try {\n",
       "require(['notebook/js/codecell'], function(codecell) {\n",
       "  codecell.CodeCell.options_default.highlight_modes[\n",
       "      'magic_text/x-csrc'] = {'reg':[/^%%pybind11/]};\n",
       "  Jupyter.notebook.events.one('kernel_ready.Kernel', function(){\n",
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       "});\n",
       "} catch (e) {};\n"
      ]
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     "metadata": {},
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    }
   ],
   "source": [
    "from pynq.overlays.base import BaseOverlay\n",
    "from pynq_peripherals import ArduinoSEEEDGroveAdapter, PmodGroveAdapter\n",
    "base = BaseOverlay('base.bit')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Control the motor with PYNQ PMOD"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "<div class=\"alert alert-box alert-warning\"><ul>\n",
    "    <h4 class=\"alert-heading\">Make Physical Connections </h4>\n",
    "    <li>Connect the motors to motor driver and the motor driver should be powered by a DC source larger than 6V. </li><li>Connect the green wires from motor driver PWM1 and PWM2 to PMODA pin 2 and PMODB pin 2 respectively, connect the green wire of DIR1 and DIR2 to PMODA pin 6 and PMODB pin 6 repectively. </li><li> The black wires from motor driver should connect to PMOD ground pins.</li><li> The red wires from motor driver are left floating, hence they can be unplugged or cut from the connector.</li>\n",
    "</ul>\n",
    "</div>"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Adapter configuration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "adapter_A = PmodGroveAdapter(base.PMODA, G4='geared_motor')\n",
    "adapter_B = PmodGroveAdapter(base.PMODB, G4='geared_motor')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Define device object"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "motor1 = adapter_A.G4\n",
    "motor2 = adapter_B.G4"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Set the speed\n",
    "* valid values are from 0 to 100"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "motor1.set_speed(10)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Set the direction to forward"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "motor1.forward()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Set the direction to backword"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "motor1.backward()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Stop the motor"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "motor1.set_speed(0)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Copyright (C) 2021 Xilinx, Inc\n",
    "\n",
    "SPDX-License-Identifier: BSD-3-Clause"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "----"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "----"
   ]
  }
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